Computer-aided detection of pulmonary nodules based on convolutional neural networks: a review

Computer-aided detection (CADe) technology has been proven to increase the detection rate of pulmonary nodules that has important clinical significance for the early diagnosis of lung cancer. In this study, we systematically review the latest techniques in pulmonary nodule CADe based on deep learning models with convolutional neural networks in computed tomography images. First, the brief descriptions and popular architecture of convolutional neural networks are introduced. Second, several common public databases and evaluation metrics are briefly described. Third, state-of-the-art approaches with excellent performances are selected. Subsequently, we combine the clinical diagnostic process and the traditional four steps of pulmonary nodule CADe into two stages, namely, data preprocessing and image analysis. Further, the major optimizations of deep learning models and algorithms are highlighted according to the progressive evaluation effect of each method, and some clinical evidence is added. Finally, various methods are summarized and compared. The innovative or valuable contributions of each method are expected to guide future research directions. The analyzed results show that deep learning-based methods significantly transformed the detection of pulmonary nodules, and the design of these methods can be inspired by clinical imaging diagnostic procedures. Moreover, focusing on the image analysis stage will result in improved returns. In particular, optimal results can be achieved by optimizing the steps of candidate nodule generation and false positive reduction. End-to-end methods, with greater operating speeds and lower computational consumptions, are superior to other methods in CADe of pulmonary nodules.